JP2006055846A - Optical analyzer for product such as fruit, having imaging devices on both sides - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an optical analyzer for product having a simpler processing theory in realization and processing unit, and creating reliable, accurate results. <P>SOLUTION: This optical analyzer is provided with product carrying lines 1, 2 continuously driven along the lengthwise direction with respect to a frame 7, and an optical analysis table for the outer surface of product, having optical axes continuously disposed with a space along the lengthwise direction, directed toward the carrying lines 1, 2, and having imaging devices 12-19 fixedly attached to the frame 7. The imaging devices 12-19 are set above the carrying lines 1, 2 and directed toward them. By displacing the imaging devices 12-19 to the side direction with respect to the lengthwise vertical face, the optical axes are tilted not to be vertical to the carrying lines 1, 2, and disposed on both sides of the carrying lines 1, 2. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an optical analyzer for products such as fruits with imaging devices on both sides, and in particular to a generally rotationally symmetric--especially generally spherical, such as fruits or vegetables, for the purpose of automatic sorting. -Relates to an optical analyzer for products.

  Such an optical analyzer is already known (WO 01/01071 pamphlet), which is driven individually and continuously in a continuous manner along the longitudinal direction with respect to the fixed frame. The product is equipped with at least one transfer line of the product and three consecutive analysis tables, the first analysis table having a V-shape with a vertex angle comprised between 90 ° and 130 ° Two imaging devices arranged on both sides in the longitudinal direction of the axis inclined along the axis are attached, and each of the two analysis stands has one imaging device with respect to the vertical in the longitudinal direction. The product is driven so that the product itself rotates while they flow against a series of analytical benches so that different aspects of each product are visible from several imaging devices. The processing unit receives the realized image and calculates data available for product sorting according to predefined and programmed criteria based on the images corresponding to the four complementary surfaces of the product surface.

  This device is totally satisfactory. The device represents a significant advance, especially over prior art devices that have only a camera relative to the product vertical or only a single analytical bench. In particular, the apparatus can perform an efficient analysis over all parts of the product surface, even if there are relatively large changes in the product size and / or shape relative to the average product size and shape. Although it is possible, it is due to the fact that each photographic device realizes multiple prints of each product, which allows the circumferential speed of their rotational drive to remain constant, whereas It is possible to select a print to be used for analysis according to the actual dimensions of the product.

  Nevertheless, it has been confirmed that some areas of the product surface are not adequately analyzed with sufficient fineness.

  For example, some major drawbacks located very close to the periphery of the image are not accurately measured and thus are not even detected. In fact, when considering the curvature of the product, the peripheral area of the image corresponds to a surface portion that is relatively inclined with respect to the optical axis of the camera (when viewed under incident light near the limit), which is the distance It should be noted that this causes a large contraction in the radial direction and a decrease in analysis accuracy.

  Conversely, other minor drawbacks that are located in the central part of the image are caught with excessive importance by the processing unit.

  On the other hand, the disadvantage of overlapping two different faces of the product visible from two separate cameras presents a delicate problem of logic interpretation by the processing unit. Indeed, among the criteria used for subsequent sorting, the area of defects, the number of defects per product, and the minimum size of defects on the product can be mentioned. These criteria cannot be evaluated well by the processing unit when certain drawbacks overlap on multiple imaging planes (i.e., when partially displayed in separate images).

  By the way, from an industrial and economic point of view, it is important that the analyzer does not consider a product that actually meets the required minimum quality standards as a defective product. In other words, it is appropriate that the product is not accidentally downgraded (by automatic sorting) to a quality category that is lower than the quality to which it actually belongs.

  However, in the case of a defect that overlaps multiple imaging surfaces of a product, a single same defect may be considered as a plurality of different defects by the processing unit. And considering the geometrical aspects mentioned above for the location and orientation of several imaging devices on several analytical benches, and in fact, some images such as fruits and vegetables are not perfect spheres. The correlation of the defects that can be detected between is very delicate to implement.

  More generally, the inventor believes that any differences introduced between images taken by several imaging devices due to the design and implementation of the optical analysis device, while Increase the complexity of the subsequent processing logic, and on the other hand when the product has a very distorted shape (theoretical product) A significant deviation locally from the perfect shape—especially a perfect sphere ”—caused to reduce the reliability of the results.

  The fact that the image taken by the device described in WO 01/01071 is not completely symmetric and corresponds to complementary areas (theoretical limits are initially fixed) that are not identical. Thus, for distorted products, processing complexity increases and reliability decreases, and complementary areas may correspond to areas that actually overlap the three-dimensional surface of the product. Or some areas of this surface cannot be photographed.

  Similarly, the inhomogeneity of the illumination of the various areas of the product photographed by each photographing device and / or that the lighting of the product is not identical for several photographing devices causes the same disadvantages .

  However, in the above-described apparatus, the product is illuminated by a transfer line and a lamp disposed on the product. Therefore, if the upper surface of the product is illuminated relatively well, the peripheral portion on the lower side of the surface of the product is not illuminated much. This disadvantage of illumination homogeneity for the various prints realized thus causes image interpretation and analysis problems by the processing unit. Thus, some drawbacks on the product are considered as illumination disadvantages and, inter alia, it can happen that less illuminated areas are treated as disadvantages.

Another problem that is actually faced with the known devices described above is the effects of dirty and moist environments where unwanted reflections and optical systems are generally detrimental to mechanical mechanisms and transport lines and product sites. The problem is that the various parts are attached to one another in order to form a compact whole with a plurality of parallel conveying lines, in particular while avoiding receiving. This attachment has proven to be very delicate in practice and can often lead to incompatibilities that cannot be overcome.
International Publication No. 01/01071 Pamphlet

  The present invention aims to solve these problems by proposing an optical analyzer for products that produce simpler, more reliable and accurate results in processing and processing logic in the processing unit.

  In particular, the present invention makes it possible to image all parts of the product surface (as opposed to prior art devices where the camera is placed only on the vertical of the product and / or only on a single analytical table) The objective of the present invention is to propose an optical analyzer that can realize simple, almost uniform and similar product surface illumination for all the prints realized on all successive analyzers.

  More characteristically, the present invention facilitates the installation, adjustment and programming of the processing unit by allowing the realization and installation of several analyzers that are consecutive in a similar manner for all analyzers. The performance of the processing unit is improved with respect to the processing unit of the apparatus described in WO 01/01071.

  Means for solving the problems of the present invention are as follows, referring to numbers.

First,
An optical analysis device for a product that is generally rotationally symmetric, in particular of a generally spherical shape, such as fruit, for the purpose of automatic sorting,
-At least one product transport line (1) comprising a plurality of individual supports for the product driven in a continuous manner along the longitudinal direction relative to the fixed frame (7) and sequentially aligned with one another in the longitudinal direction; 2) and
-A plurality of optical analyzers P (8-11) for the outer surface of the product, these analyzers (8-11) being continuously arranged at a distance from each other along the longitudinal direction, By having at least one imaging device (12-19) fixedly attached to a frame (7) having an optical axis directed to the transport line (1, 2), this transport line (1, 2) is provided. ), Multiple optical analyzers designed to realize front-flowing product images,
A rotational drive device (20) for each product, which is conveyed by the conveying lines (1, 2) while flowing in front of several consecutive analysis tables (8-11), Comprising a drive unit that is visible from several successive imaging devices (12-19),
-Each imaging device (12-19) is arranged on the transport line (1, 2) to which the imaging device is directed and is shifted laterally with respect to the longitudinal vertical plane including the longitudinal direction. When,
-Several imaging devices (12-19) of several analytical benches (8-11) are arranged along two lateral series of imaging devices, the first lateral series (12, 14; 16, 18) is positioned on one side of the longitudinal vertical plane and comprises N1 imaging devices (12, 14; 16, 18) belonging to separate P1 analysis tables (8, 10), N2 imaging devices (13, 15), which are located on the other side of the longitudinal vertical plane and belong to separate P2 analysis tables (9, 11). 17, 19), and N1, N2, P1 and P2 are non-zero integers.
Second,
The drive device (20) is adapted so that a product of a given reference diameter is rotated by the product itself about an axis at least approximately perpendicular to the longitudinal direction, the rotation in the longitudinal direction The apparatus according to the first aspect, characterized in that there is a rotation of approximately 2π-2π / (P1 + P2) or more between the first analysis table (8) and the last analysis table (11) according to .
Third,
When P1 ≧ 2 and P2 ≧ 2, the first side-sequence imaging device (12, 14; 16, 18) is replaced with the second side-sequence imaging device (13, 15; 17, 19). Product belonging to a different analysis table (8, 10) from the analysis table (9, 11) to which the product belongs and the drive device (20) are adapted so that the product of the predetermined reference diameter is the first side series The product itself is about 2π / P1 between the two consecutive analysis tables (8, 10) of the sample and about 2π / P2 between the two consecutive analysis tables (9, 11) of the second lateral series. The apparatus according to the first or second aspect, characterized in that the apparatus is configured to rotate at the same time.
Fourth,
The first side-sequence imaging devices (12, 14; 16, 18) and the second side-sequence imaging devices (13, 15; 17, 19) are alternately arranged along the longitudinal direction,
One of the two analysis stands directly continuous in the longitudinal direction has an imaging device belonging to the first lateral series (12, 14; 16, 18),
The apparatus according to the third aspect, characterized in that the other has a photographing device belonging to the second lateral series (13, 15; 17, 19).
Fifth,
Since P1 = P2 = P / 2, the interval between the analysis tables continuous along the longitudinal direction is regular, and the drive device (20) is adapted, a predetermined reference diameter is obtained. The apparatus according to the third or fourth aspect, wherein the product is rotated by the product itself at a rate of about 2π / P between two successive analysis tables.
Sixth,
The photographing devices (12 to 19) are arranged so that their optical axes form a predetermined angle called an inclination angle (α) included between 20 ° and 45 ° with respect to the longitudinal vertical plane. The apparatus according to any one of the first to fifth aspects, characterized in that
Seventh,
All the imaging devices (12 to 19) in the same side series are arranged so that their optical axes all form the same inclination angle (α1, α2) with respect to the longitudinal vertical plane. The apparatus according to any one of the first to sixth aspects, wherein the apparatus is characterized in that:
Eighth,
The inclination angle (α1) formed with respect to the longitudinal vertical plane by the optical axis of the first lateral series imaging device (12, 14; 16, 18) is the second lateral series imaging device ( 13. Device according to claim 7, characterized in that it is equal to the inclination angle (α2) formed with respect to the longitudinal vertical plane by the optical axis of 13, 15; 17, 19).
Ninth,
The apparatus according to any one of the sixth to eighth aspects, wherein an inclination angle of the optical axis of the photographing apparatus (12 to 19) with respect to the longitudinal vertical plane is approximately 36 °.
Tenth,
The apparatus according to any one of the first to ninth aspects, wherein P1 = P2 = 2.
Eleventh,
Any one of the above-mentioned first to tenth aspects, wherein each analysis stage (8 to 11) is provided with a single imaging device (12 to 19) for each transport line (1, 2). The device according to one.
12th,
All the photographing devices of the same side series directed to the same transport line (1, 2) are shifted by the same amount laterally with respect to the longitudinal direction of the transport line (1, 2) at the same height. The device according to any one of the first to eleventh aspects, wherein the device is fixed to the frame (7).
13th
All of the imaging devices (12-19) are fixed to the frame (7) at the same horizontal height on one or more transport lines (1, 2), characterized in that The device according to any one of the first to twelfth.
14th,
Furthermore, the illuminating devices (24 to 29) arranged on the products flowing in front of the analysis tables (8 to 11), and the respective photographing devices (12 to 12) for the conveyance lines (1, 2) to which the photographing devices are directed. The apparatus according to any one of the first to thirteenth aspects, further comprising a screen (33, 34) for forming a back for photographing relative to 19).
Fifteenth,
For each photographing device (12-19), it comprises at least one reflecting plate called a lower side reflecting plate, and the reflecting plate is arranged on the side of the corresponding transport line along the line, Apparatus according to any one of the first to fourteenth aspects, characterized in that it is adapted to improve the illumination of the area of the lower side of the product.
Sixteenth,
16. Each of the first to fifteenth aspects characterized in that each photographing device (12-19) is adapted to realize a plurality of successive prints of each product flowing in the front. Equipment.
Seventeenth,
The apparatus according to any one of the first to sixteenth aspects, wherein each of the photographing apparatuses (12 to 19) includes a plurality of cameras that realize photographing with different optical properties. .
Eighteenth,
-At least two parallel transport lines (1, 2) arranged in substantially the same horizontal plane;
-At least a pair of imaging devices (12-19) for each analysis stage (8-11), one being directed to one (1) of the transport lines (1, 2), the other being the other The apparatus according to any one of the first to seventeenth aspects, characterized by comprising a pair of photographing devices directed to the transport line (2).
Nineteenth,
Each conveyance line (1, 2) includes a plurality of rollers (3, 4), each of which is supported so as to be rotatable with respect to a transverse rotation axis orthogonal to the longitudinal direction, and is along the longitudinal direction. Spaced apart from each other so that two successive rollers (3, 4) define a recess between them which is a housing for a separate support for the product. The driving device (20) is adapted to rotationally drive the rollers (3, 4) between the analysis tables (8-11), any one of the above first to eighteenth features Device.

The present invention relates to an optical analysis device for a product that is generally rotationally symmetric, in particular of a generally spherical shape, such as fruits, for the purpose of automatic sorting,
At least one product transport line comprising a plurality of individual supports for the products driven in a continuous manner along the longitudinal direction relative to the fixed frame and sequentially aligned with one another in the longitudinal direction;
A plurality of optical analyzers P for the outer surface of the product, these analyzers being arranged successively at a distance from one another along the longitudinal direction, each with an optical axis directed towards the conveying line A plurality of optical analyzers, each of which is provided with at least one imaging device fixedly attached to a frame, and is capable of realizing an image of a product flowing in front of the transport line;
A rotary drive for each product, which is carried by a transfer line while it flows through the front of several consecutive analytical benches, so that different surfaces of each product are taken from several successive imaging devices Comprising a drive device that is visible,
Each imaging device is arranged on a transport line to which the imaging device is directed and is laterally offset with respect to the longitudinal vertical plane;
-Several imaging devices of several analyzers are arranged along two lateral series of imaging devices, the first lateral series being located on one side of the longitudinal vertical plane and separated N2 imaging devices belonging to P1 analysis tables, with N1 imaging devices belonging to P1 analysis tables, with the second side series positioned on the other side of the longitudinal vertical plane, and belonging to separate P2 analysis tables And N1, N2, P1 and P2 are non-zero integers, especially greater than one.

  In this way, the present inventor simply tilts the optical axis rather than perpendicular to the transport line, and arranges the photographing devices on the transport line on both sides of the transport line. It has been confirmed that advantages can be obtained and the above-mentioned problems can be solved.

  Advantageously and according to the invention, the drive device is adapted so that a product with a diameter corresponding to a predetermined reference diameter rotates on the product itself about an axis at least approximately perpendicular to the longitudinal direction. The rotation is approximately 2π-2π / (P1 + P2) or more between the first and last analyzers along the longitudinal direction (there is no special mention throughout the specification) As long as all values of angle are given in radians). Throughout the specification, the “diameter” of a product refers to the diameter of a rotating cylinder circumscribing the product, which may not be a complete rotating cylinder. In the case of spherical products such as apples, mandarin oranges, and tomatoes, the product diameter is the diameter of the sphere circumscribing the product.

  Various distributions and arrangements of imaging devices are possible. Advantageously, the analyzer according to the invention is such that P1 ≧ 2 and P2 ≧ 2, and that the first side-sequence imaging device is different from the analysis table to which the second side-sequence imaging device belongs. By belonging to the analysis table and by adapting the driving device, the product of a predetermined reference diameter is approximately 2π / P1 between two consecutive analysis tables of the first lateral series, and the second It is characterized by the fact that the product itself rotates at about 2π / P2 between two consecutive analytical tables in the side series.

  Further advantageously, according to the invention, the first lateral series of imaging devices and the second lateral series of imaging devices are alternately arranged along the longitudinal direction and are directly continuous in the longitudinal direction. One of the two analysis stands has an imaging apparatus belonging to the first side series, and the other has an imaging apparatus belonging to the second side series. Thus, the drive can be adapted so that a product of a given reference diameter rotates on the product itself at approximately 2π-2π / (P1 + P2) only between the first and second analytical bench. .

  Advantageously, the device according to the invention is also such that P1 = P2 = P / 2, that the interval between successive analysis tables along the longitudinal direction is regular, and that the drive device is adapted. A feature is that a product having a predetermined reference diameter is rotated by the product itself at approximately 2π / P between two successive analysis tables. Thus, the operating logic can be greatly simplified, and all imaging devices provide similar, complementary surface images of the product.

  Furthermore, advantageously and according to the invention, the imaging devices are arranged such that their optical axes form a predetermined angle, called the tilt angle, with respect to the longitudinal vertical plane, the angle being 20 Between 45 ° and 45 °, especially around 36 °. In fact, these slope values are very advantageous, especially in terms of compatibility between the occupied space and the various mechanical devices of one conveying line or even several parallel conveying lines arranged side by side. It turns out that it is. The value of the angle makes it possible to analyze all the faces of the product at the same time and the realized image has a considerable overlap area, but the processing unit calculates the area at the level of image analysis logic. It is easy to enter and leaves a large space area on the transport line to achieve uniform and proper illumination of the product.

  On the other hand, advantageously also according to the invention, all imaging devices of the same lateral series have their optic axes all forming the same tilt angle with respect to the longitudinal vertical plane. Be placed. Advantageously and according to the invention, the inclination angle α1 formed with respect to the longitudinal vertical plane by the optical axis of the first lateral imaging device is such that the second lateral imaging device It is equal to the tilt angle α2 formed by the optical axis with respect to the longitudinal vertical plane. Furthermore, advantageously and according to the invention, all imaging devices of the same lateral series directed to the same transport line are laterally with respect to the longitudinal direction of the transport line at the same height. It is shifted by the same amount and fixed to the frame. Advantageously also according to the invention, all the imaging devices are fixed to the frame at the same horizontal height on one or more transport lines.

  Thus, all the imaging devices realize images equivalent to each other, their arrangement, their installation, their adjustment and the programming of the processing unit are greatly simplified. The logic used to take into account the dimensional variation of the product with respect to a predetermined reference diameter may be that described in WO 01/01071 and has high reliability.

  In one particularly advantageous embodiment according to the invention, P1 = P2 = 2. The driving device is approximately π between two analysis tables adjacent to each other along the longitudinal direction having imaging devices on the same side, that is, imaging devices belonging to one of a plurality of lateral series, and along the longitudinal direction. It can be adapted to rotate a product with a reference diameter of approximately π / 2 between two directly consecutive analyzers.

  Advantageously and according to the invention, each analysis stage is provided with one and only one imaging device for each transport line. In other words, N1 = P1 and N2 = P2.

  On the other hand, advantageously, the device according to the invention further comprises: an illuminating device arranged on the product flowing in front of the analysis table; and each imaging device relative to each imaging device for a transport line to which the imaging device is directed. A screen for forming a back for photographing is provided. Such a back, for example black (or light-absorbing in the spectral region of the illumination and / or imaging device), makes it possible to enhance the realized image contrast and thus the subsequent automatic analysis by the processing unit. Yes. The lighting device advantageously comprises at least one lighting room with a reflective and diffusive inner wall so as to realize indirect illumination of the product with diffused light.

  Furthermore, advantageously and according to the invention, the apparatus comprises at least one reflector, called the lower side reflector, for each photographic device, the reflector comprising a corresponding conveying line. Are arranged along the line and adapted to improve the illumination of the area of the lower lateral side of the product. It should be noted that the back and reflectors of some imaging devices of several consecutive analyzers can be formed by a flat inner wall, and the inner wall is along the side of the line and below it along the transport line. Stretched (perpendicular to the optical axis of the opposing imaging device), and each inner wall is alternately reflective in the longitudinal direction, dark matte part that forms the back, and reflective or reflective to form the reflector And it has a diffusive part.

  Advantageously and according to the invention, each photographic device is adapted to achieve a plurality of successive prints of each product flowing in the front. Therefore, for example, as described in the pamphlet of International Publication No. 01/01071, variations in product dimensions can be easily taken into consideration. Furthermore, advantageously and according to the invention, each imaging device comprises a plurality of cameras that realize imaging with different optical properties. Thus, a plurality of images of each surface of each product can be realized by different wavelengths, for example. For example, for each photographing device, an infrared camera and a visible region (RVB) camera are provided.

Advantageously and according to the invention, the analytical device comprises:
-At least two parallel transport lines arranged in substantially the same horizontal plane;
-At least a pair of imaging devices for each analysis stage, with one pair being directed to one of the transport lines while the other is directed to the other transport line. The same analytical table is therefore equipped with a common illumination device for the various transport lines. As mentioned above, the invention makes it possible in particular to realize a particularly simple and compact analyzer despite the presence of a plurality of parallel transport lines.

  Advantageously and according to the invention, each conveying line comprises a plurality of rollers, each of which is supported so as to be rotatable about a transverse axis of rotation orthogonal to the longitudinal direction, Are spaced apart from each other so that two successive rollers define a recess between them that is a housing for a separate support for the product. It is adapted to rotationally drive the rollers between the analysis tables.

  The analyzer according to the invention is advantageously at least as described in EP 527 519, or EP 670276, or EP 10000883 or EP 1040058. One transport line is provided. However, the present invention is also compatible with other types of transport lines.

  On the other hand, the apparatus also comprises a processing unit, which receives a signal representing an image realized by an optical analyzer and pre-defined and programmed data available for product selection. It is adapted to calculate according to standard.

  The invention further relates to a product optical analyzer characterized by a combination of all or part of the features mentioned above or below.

  According to the present invention, it is possible to provide an optical analyzer for a product that produces results that are simpler, more reliable, and more accurate in implementation and processing logic in the processing unit.

  Other objects, features and advantages of the present invention will become apparent from the following description of embodiments of the invention, given by way of non-limiting example only, with reference to the accompanying drawings. .

FIG. 1 is a schematic view in a vertical cross section of an optical analyzer according to the invention.
FIG. 2 is a schematic plan view showing the arrangement of the imaging device of the apparatus of FIG.
FIG. 3 is a schematic view in the central longitudinal section of the apparatus of FIG. 1 (the central profile inserted between the two transport lines is not shown for purposes of clarity of illustration).
FIG. 4 is a side schematic view of several analyzers of the apparatus of FIG. 1 showing product rotation between the first analyzer and the last analyzer.
FIG. 5a is a schematic diagram showing various areas (spherical top) of the surface of the product assumed to be perfectly spherical as seen from the imaging device of the apparatus of FIG.
FIG. 5b is a schematic diagram showing the area of the surface of the product assumed to be perfectly spherical, considered for optical analysis, as seen from the imaging device of the apparatus of FIG.

  The analysis device according to the invention shown in the drawing is installed in a product transport device, which in the illustrated example is spherical and can be formed of fruits or vegetables. This transport device includes two parallel transport lines 1 and 2. Each of these transport lines 1 and 2 comprises a plurality of rollers such as 3 and 4 which are mounted and spaced apart so as to be rotatable about a transverse rotation axis. In this way, two successive rollers define a recess which is a storage for products between them. The roller rotation shaft is driven by the endless chains 5 and 6 coupled to the motor device, so that the two transport lines 1 and 2 are driven in a continuous manner through the optical analyzer. ing. The whole is carried by a frame 7 placed on the floor. Such a conveying line is for example of the type described in EP 527 519, or EP 670276, or EP 10000883 or EP 1040058, and further Reference should be made to the specification for details.

  The analysis device according to the invention in the example shown in the drawing comprises four analysis stands 8-11, which run along the transfer lines 1, 2, i.e. each transfer line 1, 2. Are continuously arranged at a distance from each other in the longitudinal direction.

  Each analysis table has two imaging devices, one of the imaging devices 12, 13 to 15 has an optical axis directed to the first transport line 1, and the other imaging device 16 to 19 has a second optical axis. Directed to the transport line 2. As described above, the optical analyzer includes four continuous imaging devices for the conveyance line, and one imaging device for each analysis table.

  The photographing apparatus is attached to the frame 7 at a height located above the height of the transport lines 1 and 2 and is shifted laterally with respect to the longitudinal direction of the corresponding transport lines 1 and 2. Among the four photographing devices of the transport lines 1 and 2, the two photographing devices 12, 14-the photographing devices 16, 18-on the other side are vertical in the longitudinal direction including the longitudinal direction of the transport line 1 and on the other hand Arranged on one side of the plane, the other two imaging devices 13, 15—on the other, the imaging devices 17, 19—are arranged on the other side of the longitudinal vertical plane.

  In this way, as the product flows along the transport lines 1 and 2, each product is positioned on the four imaging devices, that is, the first imaging devices 12 and 16 positioned on one side and the other side. The second imaging devices 13 and 17, the third imaging devices 14 and 18 positioned on the same side as the first, and the front of the fourth imaging devices 15 and 19 positioned on the same side as the second Are passed individually in succession.

  On the other hand, as shown in FIG. 3, the driving device 20 with the endless belt 21 driven by the motor 22 passes through the front of the analysis tables 8 to 11 below the conveying lines 1 and 2. By being arranged in part, the rollers 3, 4 of the conveying lines 1, 2 and thus the products carried between these rollers are driven to rotate. The driving speed of the belt 21 by the motor 22 is determined according to a predetermined reference diameter of the product transferred by the transport lines 1 and 2.

  In the device according to the invention, this speed can be fixed at the time of manufacture, and the actual dimensional variation of the product with respect to the reference diameter is taken into account, for example as specified by WO 01/01071. Can do.

  Preferably, the driving speed of the driving device 20 is set so that each product having a predetermined reference diameter transferred by the conveying lines 1 and 2 is centered on a horizontal axis perpendicular to the longitudinal direction of the corresponding conveying lines 1 and 2. The rotation is adapted to be subjected to rotation, and the rotation is a value of approximately π / 2 between two consecutive analysis tables 8, 9; analysis tables 9, 10; This rotation is shown in FIG. 4, in which the cross section of each product is shown divided into four complementary sections A, B, C, D of π / 2.

  More generally, the product is subject to approximately 2π / P rotation between two consecutive analysis platforms, where P is a continuous analysis along the longitudinal direction of the corresponding transport line 1,2. The total number of units.

  Between the two imaging devices 8, 10 or the imaging devices 9, 11 positioned on the same side of the transport lines 1, 2, the product is rotated approximately π in the example shown, ie more generally approximately The rotation is 2π / N1 and the other is 2π / N2, where N1 and N2 are the number of consecutive imaging devices positioned on the same side of the corresponding transport lines 1 and 2. In fact, the imaging devices 12 and 14 form the first lateral series of imaging devices, all of which are positioned on the same side of the longitudinal vertical plane of the transport line 1 and the length of the transport line 1 It extends continuously in parallel to the direction. Similarly, the imaging devices 13 and 15 constitute a second side series, and the side series is located on the side opposite to the first series formed by the imaging devices 12 and 14. The photographing devices 16 and 18 constitute a first side series of the transport line 2, and the photographing devices 17 and 19 constitute a second side series of the transport line 2.

  As can be seen in FIG. 1, the imaging apparatus has its optical axes directed to the corresponding transport lines 1, 2, and 20 ° and 45 ° relative to the corresponding central longitudinal vertical plane of the transport lines 1, 2. It is fixed to the frame 7 so as to form an angle comprised between °, preferably approximately 36 °.

  The distance separating several analyzer stands 8-11 along the longitudinal direction is preferably regular along the analyzer. For example, two consecutive analysis stands are separated by a distance between 20 cm and 30 cm.

  Each imaging device 12-19 preferably works in conjunction with a single case and has two cameras adapted to perform a print that can be completely overlaid, i.e. one in the visible region (RVB). It has a camera and one infrared camera. These cameras are preferably cameras called “single shots” and are adapted to take approximately 25 or more prints per second. The camera supplies digital data representing these images, which can be transmitted to an information processing unit that is suitable for the use of these data and is therefore programmed.

  The analyzer further comprises an indirect illumination device for the product passing through the front of the optical analysis table. The illuminating device comprises an illuminating chamber 30, which has a horizontal inner wall 23 fixedly attached to the frame 7 on the two conveying lines 1, 2, and for example a matte white paint. It has a reflective and diffusible lower surface 24 painted in This inner wall 23 thus forms the reflective and diffusive ceiling of the lighting room 30. The ceiling inner wall 23 carries a plurality of suspension lines 25 extending downward. A halogen lamp 26 is fixed to the lower end of the suspension line together with a lower reflector 40. The lower reflector is made of, for example, stainless steel. It is made of steel, polished metal alloy, or plated, and is directed to the lower surface 24 of the inner wall 23 so as to illuminate the upper side. The light bulb of the lamp 26 is disposed on the reflector 40. Yes. Furthermore, the four longitudinal profiles 27 extend between the ramp 26 and the height of the conveying lines 1, 2. These metal profiles 27 have a longitudinal central groove that is a recessed transverse vertical section with the recess facing upwards, said groove being disposed on said groove, for example neon A tube-type illumination arc tube 28 is received. The profile 27 has a reflective upper surface, for example made of stainless steel or plated, in particular of a polished metal alloy, so that the light of the tube 28 is upward, i.e. of the ceiling. The inner wall 23 itself is reflected toward the lower surface 24 which is reflective and diffusive.

  The two central profiles 27 extend vertically right above the conveying lines 1 and 2 and have a non-reflective lower surface 39 and a suspended side surface 29, for example, painted with matte black paint. The side portions are inclined downward and have the function of avoiding any direct illumination of the products conveyed to the conveying lines 1 and 2.

  On the other hand, the frame 7 defines a space in the lighting chamber 30 between the horizontal inner wall 23 forming a reflective and diffusive ceiling and the conveying lines 1 and 2, the inner surface of which is preferably Reflective and diffusive, especially painted with matte white paint. This space is limited by the peripheral inner wall, and its ceiling 23, longitudinal side walls and inner walls at the transverse ends form a case. In the illumination chamber 30 formed by this case, the transfer lines 1 and 2 cross the longitudinal direction. When the halogen lamps 26 uniformly distributed in the illumination room 30 and the illumination tube 28 included in the illumination room are turned on, they diffuse upward toward the horizontal upper wall forming the ceiling 23, It will be appreciated that the light is gently reflected and diffused to fill the illumination chamber 30 with a homogeneous diffused light of a wavelength corresponding to that emitted from the lamp 26 and the illumination tube 28.

  It should be noted that the side surface portion 29 of the central shape member 27 has the notch 31 opened so that it does not interfere with the angle of view of the imaging devices of various analysis stands, that is, the front side of such an imaging device. It is possible to realize a complete surface print of the passing product. Similarly, the inner wall 23 forming the ceiling is provided with a transverse opening 32, and the transverse opening can prevent the angle of view of the photographing apparatus crossing the opening from being covered. The photographing devices 12 to 19 are actually fixed to the frame 7 on the inner wall 23 of the ceiling outside the lighting room 30 so that they are not illuminated by the light filling the lighting room 30 and are not dazzled. It has become.

  Furthermore, the two side surfaces 33 and 34 in the longitudinal direction are arranged on the respective side portions of the transport lines 1 and 2 so as to be opposed to the imaging devices 12 to 19, so For example, a light-absorbing back painted with matte black paint is formed, and the product passes in front of the back, and the image is realized.

  For each of the photographing devices 12 to 19, the area of the opposite side portions 33 and 34 (substantially perpendicular to the optical axis of the photographing device) extends along the longitudinal direction facing the optical axis and the angle of view, and the back (particularly glossy). Adapted to form an erasing black). The area of the other side surface portion 34, 33 faces the optical axis and the angle of view of the photographing apparatus and extends in the longitudinal direction, and is also reflective (made of metal or plated), or Reflective and diffusive (painted with matte white paint) forms a reflector that improves the illumination of the lower side of the product.

  Each side 33, 34 is thus adapted to form a back (matte black area) alternately in the longitudinal direction, and a reflector (matt white or metal or plated). Is adapted to form).

  The side surface portion 33 of the transport line 1 and the side surface portion 34 of the transport line 2 are both disposed between the transport lines 1 and 2, and as shown in FIG. Can be formed by the same central profile inserted between the two.

  The optical analyzer according to the invention makes it possible to achieve a uniform and uniform illumination of the fruit, which is almost identical for all optical analysis benches. Some of the imaging devices 12-19 are tilted at the same angle with respect to the vertical to achieve a print that is similar in terms of the geometrical direction of imaging for the product.

  FIG. 5a schematically represents various areas 35-38 of a sphere, which are several consecutive imaging devices 12, as the sphere passes through an optical analyzer according to the invention. 13 to 15 or the imaging devices 16 to 19. These areas are hemispherical peaks 35-38. The first imaging device 12 or 16 is assumed to have its optical axis 50 perpendicular to the plane of FIG. The locus of the optical axis 50 is the center point O of the illustrated circle. The arrangement of the optical axes 41 to 43 of the other three imaging devices 13 to 15 or the imaging devices 17 to 19 is 120 ° with respect to each other, and the four optical axes 50 and 41 to 43 are in space according to regular tetrapods. And meet at the center of the sphere. The three hemispherical tops 36-38 visible from these three other imaging devices are shown with partial shading parallel to the corresponding optical axes 41-43.

  As can be seen, all parts of the product are seen and displayed in the realized image with some overlap.

  FIG. 5b shows the area 44 of the hemispherical top 35 seen in the plane of FIG. 5a in solid lines, which is taken into account for optical analysis. In each of the areas where one of the other three hemispherical parietal portions 36-38 and hemispherical parietal portion 35 overlap, the portion of the central equator line 46-48 relative to the equator of these two hemispherical parietal portions is determined and stored. For optical analysis, the pixels of the image located outside the area 44 defined by these three central equator lines 46-48 are removed. In this way, the surface of the sphere is divided into four auxiliary areas that are completely identical to the area 44. Each central equator line 46-48 belongs to the bisector equator plane inside the equator plane, which includes two overlapping tops 35 and 36 or 37 or 38 equator.

  Each point M of this equator line is equidistant (on the surface of the sphere) from the point C1 belonging to the equator of the top 35 and the point C2 belonging to the other overlapping tops 36 to 38 of FIG. The projections of these points C2, M, C1 on the plane belong to the same radius R of the circle representing the crown 35. In the plane of FIG. 5a (corresponding to the plane of the formed image), the distance OM is a part of radius R (equal to half the reference diameter). The position of the point M can therefore be represented by an OM / R ratio.

  When analyzing a non-spherical product, for each image of interest that is realized by the imaging device (not corresponding to a full hemispherical top), in each of the radial directions from the optical axis represented by point O The center of the area to be considered by applying the same fraction OM / R obtained and memorized for the perfect sphere to the distance OC between the circumferential O located in this radial direction and the point C. A limit (similar to area 44) is determined. The center limit point M 'on the realized flat image is therefore OM' = OC * OM / R. Such programming-based processing unit programming logic can therefore be very simple and reliable even in the case of distorted shapes.

  All the imaging devices can be the same and are all equidistant from the products carried by the conveying lines 1 and 2.

  It will be appreciated that such an optical analyzer is extremely easy to install, adjust and maintain. The frame 7 forms an external protective hood, which is provided with a lid for accessing the various internal elements of the optical analyzer according to the invention.

  A signal emitted from the photographing apparatus is sent to a processing unit (not shown) that is known per se, and various realized images are stored in the processing unit. Subsequent processing and analysis of the image is possible for the purpose of automatic sorting. This processing unit can be realized in a manner known per se. Advantageously, it is formed by an information processing device such as a personal computer.

  It should be noted that the present invention can be directed to many variations on the illustrated and described embodiments. For example, it is possible to provide more than two analysis tables on each side of the transfer lines 1 and 2. The number of analysis tables on each side may be different on each side. With respect to the inclination of the optical axis of the photographing device with respect to the central longitudinal direction vertical plane, an angle value of 36 ° is very advantageous in practice. In fact, if the product is spherical, the value corresponds to the ideal theoretical angle in the direction of the optical axis so that the axis of the regular tetrapod centered in the center of the sphere coincides with the optical axis. To do. However, other angle values may be employed. The number, type and arrangement of the light sources in the illumination room 30 may also be different. Instead of a single illumination chamber, multiple illumination chambers, for example separate illumination chambers for transport lines and / or multiple longitudinally continuous illumination chambers, in particular one illumination for each optical analysis table A room can also be provided. Matte white paint can be replaced by other bright coatings as long as a reflective and diffusive effect is obtained. Similarly, matte black paint can be substituted for any dark coating that is suitable to form a suitable ground.

  The drive device 20 can be adapted to rotationally drive the product in the opposite direction to the direction of travel along the longitudinal direction, as shown in FIG.

It is the schematic in the vertical cross section of the optical analyzer by this invention. FIG. 2 is a schematic plan view showing the arrangement of the imaging device of the apparatus of FIG. 2 is a schematic view in a vertical central longitudinal section of the device of FIG. FIG. 2 is a side schematic view of several analyzers of the apparatus of FIG. 1 showing product rotation between the first analyzer and the last analyzer. FIG. 2 is a schematic diagram showing various areas (spherical top) of the surface of the product assumed to be perfectly spherical as seen from the imaging device of the apparatus of FIG. FIG. 2 is a schematic diagram showing an area of the surface of the product assumed to be perfectly spherical, considered for optical analysis, as seen from the imaging device of the apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Conveyance line 2 Conveyance line 3 Roller 4 Roller 7 Fixed frame 8 Optical analysis stand 9 Optical analysis stand 10 Optical analysis stand 11 Optical analysis stand 12 Imaging device 13 Imaging device 14 Imaging device 15 Imaging device 16 Imaging device 17 Imaging device 18 Imaging device 18 Imaging device 19 Imaging device 20 Drive device 21 Endless belt 22 Motor 23 Inner wall 24 Lower surface 25 Suspension line 26 Lamp 27 Shape 28 Illumination tube 30 Illumination chamber 31 Notch 32 Transverse opening 35 Area 36 Area 37 Area 38 Area 39 Lower surface 40 Reflector 41 Optical axis 42 Optical axis 43 Optical axis 44 Area 50 Optical axis

Claims (19)

An optical analyzer for spherical products such as fruits for the purpose of automatic sorting,
A product transport line comprising a plurality of individual supports for the products driven in a continuous manner along the longitudinal direction relative to the fixed frame and sequentially aligned with each other in the longitudinal direction;
An optical analysis table P for the outer surface of the product, the analysis tables being arranged successively at a distance from one another along the longitudinal direction, each comprising an optical axis directed towards the conveying line An optical analyzer that is capable of realizing an image of a product flowing in the front, which is carried by this transport line, by including a photographing device fixedly attached to
A product rotation drive device, wherein the product is carried by a transport line while flowing in front of a continuous analysis table, so that different surfaces of the product are visible from a continuous imaging device Comprising:
The imaging device is disposed on a transport line to which the imaging device is directed and is laterally offset with respect to a longitudinal vertical plane including the longitudinal direction;
The imaging device of the analysis table is arranged along two side series of the imaging device, the first side sequence is located on one side of the longitudinal vertical plane and belongs to a separate P1 analysis table N1 imaging devices, with the second lateral series positioned on the other side of the longitudinal vertical plane and N2 imaging devices belonging to separate P2 analysis tables, N1 , N2, P1 and P2 are non-zero integers.   Adaptation of the drive means that the product of the reference diameter is rotated by the product itself about an axis perpendicular to the longitudinal direction, the rotation of which is the first analytical table according to the longitudinal direction. The apparatus according to claim 1, characterized in that there is a rotation of 2π-2π / (P1 + P2) or more between the first and the last analysis stage.   P1 ≧ 2, P2 ≧ 2, that the first side-sequence imaging device belongs to an analysis table different from the analysis table to which the second side-sequence imaging device belongs, and the driving device is adapted Thus, the product of the reference diameter is 2π / P1 between two consecutive analytical tables of the first lateral series, and approximately 2π between the two consecutive analytical tables of the second lateral series. The apparatus according to claim 1 or 2, wherein the product rotates at / P2. The first lateral series of imaging devices and the second lateral series of imaging devices are alternately arranged along the longitudinal direction,
One of the two analysis stands directly continuous in the longitudinal direction has a photographing device belonging to the first lateral series,
The apparatus according to claim 3, wherein the other has a photographing device belonging to the second lateral series.   P1 = P2 = P / 2, the interval between the analysis tables continuous along the longitudinal direction is regular, and the product of the reference diameter is continuous by adapting the driving device. The apparatus according to claim 3 or 4, characterized in that the product itself rotates between the two analysis tables at 2π / P.   The imaging device is arranged such that the optical axes thereof are arranged so as to form a predetermined angle called an inclination angle (α) included between 20 ° and 45 ° with respect to the longitudinal vertical plane. An apparatus according to any one of claims 1 to 5.   All the imaging devices of the same side series are characterized in that their optical axes are all arranged to form the same inclination angle (α1, α2) with respect to the longitudinal vertical plane. An apparatus according to any one of claims 1 to 6.   The inclination angle (α1) formed with respect to the longitudinal vertical plane by the optical axis of the first side-sequence imaging device is changed to the longitudinal vertical plane by the optical axis of the second side-sequence imaging device. 8. Device according to claim 7, characterized in that it is equal to the tilt angle (α2) formed with respect to it.   9. The apparatus according to claim 6, wherein an inclination angle of the optical axis of the photographing apparatus with respect to the longitudinal vertical plane is approximately 36 [deg.].   10. The device according to claim 1, wherein P1 = P2 = 2.   The apparatus according to any one of claims 1 to 10, wherein the analysis stage includes an imaging device for the transport line.   All the photographing devices of the same side series directed to the same conveyance line are fixed to the frame at the same height, shifted by the same amount laterally with respect to the longitudinal direction of the conveyance line. 12. A device according to any one of the preceding claims, characterized in that it is characterized in that   The apparatus according to claim 1, wherein all the photographing apparatuses are fixed to the frame at the same horizontal height on the conveying line.   A lighting device arranged on the product flowing in front of the analysis table and a screen for forming a back for photographing relative to the photographing device for the conveyance line to which the photographing device is directed. 14. A device according to any one of the preceding claims, characterized in that it is characterized in that   For a photographing apparatus, a reflector called a lower side reflector is provided, and the reflector is arranged along the line on the side of the corresponding conveying line, and illuminates the area on the lower side of the product. 15. Apparatus according to any one of claims 1 to 14, characterized in that it is adapted to improve.   16. A device according to any one of the preceding claims, characterized in that the imaging device is adapted to achieve a plurality of successive prints of the product flowing in the front.   The apparatus according to claim 1, wherein the photographing apparatus includes a camera that realizes photographing with different optical properties. -Parallel transport lines arranged in the same horizontal plane;
-A pair of imaging devices for the analysis stage, characterized in that they comprise a pair of imaging devices, one directed to one of the transport lines and the other directed to the other transport line An apparatus according to any one of claims 1 to 17. The transport line comprises rollers, the rollers are supported so as to be rotatable with respect to a transverse rotation axis perpendicular to the longitudinal direction, and are spaced apart from each other along the longitudinal direction so that two consecutive rollers Are adapted to define a recess between them, which is a housing for the individual support for the product, and a drive is adapted to drive the roller between the analysis tables. The device according to claim 1, wherein the device is a device.

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